Ultrasonic devices are widely used in robotics as exteroceptive sensors for ranging measurements. Robotic applications often involve a large number of sonars operating concurrently, giving rise to the phenomenon of crosstalk. In this work, the problem of improving performance of ultrasonic devices in the presence of crosstalk and noise is addressed. In order for each device to discriminate its own echo, chaos is exploited to create unique firing sequences. In particular, the firing scheme described in this work is inspired to a modulation scheme used in chaotic communications, called chaotic pulse position modulation (CPPM). The evaluation of the time of flight is performed by a detection filter. The experimental setup consists of a Polaroid 600 electrostatic transducer driven by a continuous CPPM modulator. Experimental results confirm the suitability of the approach.

Chaotic Pulse Position Modulation to Improve the Efficiency of Sonar Sensors / Fortuna, L.; Frasca, M.; Rizzo, A.. - In: IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT. - ISSN 0018-9456. - STAMPA. - 52:6(2003), pp. 1809-1814. [10.1109/TIM.2003.820452]

Chaotic Pulse Position Modulation to Improve the Efficiency of Sonar Sensors

Rizzo, A.
2003-01-01

Abstract

Ultrasonic devices are widely used in robotics as exteroceptive sensors for ranging measurements. Robotic applications often involve a large number of sonars operating concurrently, giving rise to the phenomenon of crosstalk. In this work, the problem of improving performance of ultrasonic devices in the presence of crosstalk and noise is addressed. In order for each device to discriminate its own echo, chaos is exploited to create unique firing sequences. In particular, the firing scheme described in this work is inspired to a modulation scheme used in chaotic communications, called chaotic pulse position modulation (CPPM). The evaluation of the time of flight is performed by a detection filter. The experimental setup consists of a Polaroid 600 electrostatic transducer driven by a continuous CPPM modulator. Experimental results confirm the suitability of the approach.
2003
Chaotic Pulse Position Modulation to Improve the Efficiency of Sonar Sensors / Fortuna, L.; Frasca, M.; Rizzo, A.. - In: IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT. - ISSN 0018-9456. - STAMPA. - 52:6(2003), pp. 1809-1814. [10.1109/TIM.2003.820452]
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11589/5928
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